chore(utils): move utils directory (autowarefoundation#2911)

Signed-off-by: satoshi-ota <[email protected]>
angry-crab · Feb 20, 2023 · ce82f3d · ce82f3d
1 parent ab0e97a
commit ce82f3d
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Showing 27 changed files with 36 additions and 37 deletions.
diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
@@ -35,10 +35,10 @@ ament_auto_add_library(behavior_path_planner_node SHARED
   src/scene_module/pull_out/util.cpp
   src/scene_module/pull_out/shift_pull_out.cpp
   src/scene_module/pull_out/geometric_pull_out.cpp
-  src/scene_module/utils/geometric_parallel_parking.cpp
-  src/scene_module/utils/occupancy_grid_based_collision_detector.cpp
-  src/scene_module/utils/path_shifter.cpp
   src/scene_module/scene_module_visitor.cpp
+  src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
+  src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
+  src/util/path_shifter/path_shifter.cpp
   src/util/drivable_area_expansion/drivable_area_expansion.cpp
   src/util/drivable_area_expansion/map_utils.cpp
   src/util/drivable_area_expansion/footprints.cpp

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp
@@ -14,7 +14,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__DEBUG_UTILITIES_HPP_
 #define BEHAVIOR_PATH_PLANNER__DEBUG_UTILITIES_HPP_
 
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp
@@ -15,8 +15,9 @@
 #ifndef BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_
 #define BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_
 
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
+
 #include <behavior_path_planner/parameters.hpp>
-#include <behavior_path_planner/scene_module/utils/path_shifter.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>

diff --git a/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
@@ -18,7 +18,6 @@
 #include "behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

diff --git a/...th_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp b/...th_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp
@@ -15,7 +15,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>

diff --git a/...ning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp b/...ning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp
@@ -17,7 +17,6 @@
 
 #include "behavior_path_planner/debug_utilities.hpp"
 #include "behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 

diff --git a/...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
@@ -20,6 +20,7 @@
 #include "behavior_path_planner/scene_module/lane_change/lane_change_path.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

diff --git a/..._path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_path.hpp b/..._path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_path.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__LANE_CHANGE_PATH_HPP_
 
 #include "behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>

diff --git a/...r_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp b/...r_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_planner/scene_module/pull_out/pull_out_path.hpp"
 #include "behavior_path_planner/scene_module/pull_out/pull_out_planner_base.hpp"
-#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 

diff --git a/...vior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/...vior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
@@ -20,8 +20,8 @@
 #include "behavior_path_planner/scene_module/pull_out/pull_out_path.hpp"
 #include "behavior_path_planner/scene_module/pull_out/shift_pull_out.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>

diff --git a/...havior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_path.hpp b/...havior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_path.hpp
@@ -15,7 +15,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PATH_HPP_
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PATH_HPP_
 
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 

diff --git a/...path_planner/include/behavior_path_planner/scene_module/pull_over/geometric_pull_over.hpp b/...path_planner/include/behavior_path_planner/scene_module/pull_over/geometric_pull_over.hpp
@@ -16,8 +16,8 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_
 
 #include "behavior_path_planner/scene_module/pull_over/pull_over_planner_base.hpp"
-#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 

diff --git a/...avior_path_planner/include/behavior_path_planner/scene_module/pull_over/goal_searcher.hpp b/...avior_path_planner/include/behavior_path_planner/scene_module/pull_over/goal_searcher.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__GOAL_SEARCHER_HPP_
 
 #include "behavior_path_planner/scene_module/pull_over/goal_searcher_base.hpp"
-#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
 

diff --git a/...or_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp b/...or_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp
@@ -20,8 +20,8 @@
 #include "behavior_path_planner/scene_module/pull_over/pull_over_parameters.hpp"
 #include "behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp"
-#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 

diff --git a/...ior_path_planner/include/behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp b/...ior_path_planner/include/behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__SHIFT_PULL_OVER_HPP_
 
 #include "behavior_path_planner/scene_module/pull_over/pull_over_planner_base.hpp"
-#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 

diff --git a/..._path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp b/..._path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
@@ -16,7 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SIDE_SHIFT__SIDE_SHIFT_MODULE_HPP_
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

diff --git a/...dule/utils/geometric_parallel_parking.hpp → ...el_parking/geometric_parallel_parking.hpp b/...dule/utils/geometric_parallel_parking.hpp → ...el_parking/geometric_parallel_parking.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/parameters.hpp"
@@ -129,4 +129,4 @@ class GeometricParallelParking
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_
diff --git a/...cupancy_grid_based_collision_detector.hpp → ...cupancy_grid_based_collision_detector.hpp b/...cupancy_grid_based_collision_detector.hpp → ...cupancy_grid_based_collision_detector.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
@@ -149,4 +149,4 @@ class OccupancyGridBasedCollisionDetector
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
diff --git a/...anner/scene_module/utils/path_shifter.hpp → ...lanner/util/path_shifter/path_shifter.hpp b/...anner/scene_module/utils/path_shifter.hpp → ...lanner/util/path_shifter/path_shifter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__PATH_SHIFTER_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__PATH_SHIFTER_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_
 
 #include "behavior_path_planner/parameters.hpp"
 
@@ -226,4 +226,4 @@ class PathShifter
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__PATH_SHIFTER_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/debug.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/debug.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <behavior_path_planner/scene_module/lane_change/debug.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
@@ -18,7 +18,7 @@
 #include "behavior_path_planner/path_utilities.hpp"
 #include "behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/scene_module/lane_change/lane_change_path.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 #include "behavior_path_planner/utilities.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>

diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/util.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/util.cpp
@@ -15,8 +15,8 @@
 #include "behavior_path_planner/scene_module/pull_out/util.hpp"
 
 #include "behavior_path_planner/path_utilities.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
 #include "behavior_path_planner/util/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -16,8 +16,8 @@
 
 #include "behavior_path_planner/path_utilities.hpp"
 #include "behavior_path_planner/scene_module/pull_over/util.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
 #include "behavior_path_planner/util/create_vehicle_footprint.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 #include "behavior_path_planner/utilities.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>

diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp
@@ -15,7 +15,7 @@
 #include "behavior_path_planner/scene_module/pull_over/util.hpp"
 
 #include "behavior_path_planner/path_utilities.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>

diff --git a/...dule/utils/geometric_parallel_parking.cpp → ...el_parking/geometric_parallel_parking.cpp b/...dule/utils/geometric_parallel_parking.cpp → ...el_parking/geometric_parallel_parking.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp"
+#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
 
 #include "behavior_path_planner/path_utilities.hpp"
 #include "behavior_path_planner/utilities.hpp"

diff --git a/...cupancy_grid_based_collision_detector.cpp → ...cupancy_grid_based_collision_detector.cpp b/...cupancy_grid_based_collision_detector.cpp → ...cupancy_grid_based_collision_detector.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp"
+#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>

diff --git a/...r/src/scene_module/utils/path_shifter.cpp → ...er/src/util/path_shifter/path_shifter.cpp b/...r/src/scene_module/utils/path_shifter.cpp → ...er/src/util/path_shifter/path_shifter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
+#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
 
 #include "behavior_path_planner/path_utilities.hpp"
 #include "behavior_path_planner/utilities.hpp"